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<div class="title">bilateral.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_BILATERAL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_FILTERS_BILATERAL_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/search/pcl_search.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html">   57</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_bilateral_filter.html">BilateralFilter</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::Search&lt;PointT&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; BilateralFilter&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const BilateralFilter&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a6d2043ffcb98ec957d38ac1c9746790c">   73</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#a6d2043ffcb98ec957d38ac1c9746790c">BilateralFilter</a> () : <a class="code" href="classpcl_1_1_bilateral_filter.html#abea3cb7b479ea6e41caf8e9e898b07ab">sigma_s_</a> (0), </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;                           <a class="code" href="classpcl_1_1_bilateral_filter.html#a5f6aaa90b1204ddb406dd48561249388">sigma_r_</a> (std::numeric_limits&lt;double&gt;::max ()),</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                           <a class="code" href="classpcl_1_1_bilateral_filter.html#a1a8b8cd88dcf95540be1d2c28f68928c">tree_</a> ()</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      }</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#ac53b23b96cbb811e70525222a754ab70">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#a066c204ca8bc026925fef5f5bf7e7837">computePointWeight</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pid, <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;distances);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#afc66e9881892c38ab0583a3e794e10be">   99</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#afc66e9881892c38ab0583a3e794e10be">setHalfSize</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> sigma_s)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      { <a class="code" href="classpcl_1_1_bilateral_filter.html#abea3cb7b479ea6e41caf8e9e898b07ab">sigma_s_</a> = sigma_s; }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#ac254e5699f91bf688d21282c63f1aa67">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#ac254e5699f91bf688d21282c63f1aa67">getHalfSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_bilateral_filter.html#abea3cb7b479ea6e41caf8e9e898b07ab">sigma_s_</a>); }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#adc9cfc0e5547a902d046da9d66c8cdc8">  111</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#adc9cfc0e5547a902d046da9d66c8cdc8">setStdDev</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> sigma_r)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      { <a class="code" href="classpcl_1_1_bilateral_filter.html#a5f6aaa90b1204ddb406dd48561249388">sigma_r_</a> = sigma_r;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a5e1455ab6c90044b98572c2078f89156">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#a5e1455ab6c90044b98572c2078f89156">getStdDev</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">      </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_bilateral_filter.html#a5f6aaa90b1204ddb406dd48561249388">sigma_r_</a>); }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a33c48632fadd95cd4cd5889b0342640b">  123</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#a33c48632fadd95cd4cd5889b0342640b">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &amp;tree)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      { <a class="code" href="classpcl_1_1_bilateral_filter.html#a1a8b8cd88dcf95540be1d2c28f68928c">tree_</a> = tree; }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a3e96d45e8aaa2a896b5fd62a0d2c4b5a">  133</a></span>&#160;      <a class="code" href="classpcl_1_1_bilateral_filter.html#a3e96d45e8aaa2a896b5fd62a0d2c4b5a">kernel</a> (<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> sigma)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      { <span class="keywordflow">return</span> (exp (- (x*x)/(2*sigma*sigma))); }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#abea3cb7b479ea6e41caf8e9e898b07ab">  137</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_bilateral_filter.html#abea3cb7b479ea6e41caf8e9e898b07ab">sigma_s_</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a5f6aaa90b1204ddb406dd48561249388">  139</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_bilateral_filter.html#a5f6aaa90b1204ddb406dd48561249388">sigma_r_</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a1a8b8cd88dcf95540be1d2c28f68928c">  142</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_bilateral_filter.html#a1a8b8cd88dcf95540be1d2c28f68928c">tree_</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  };</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/bilateral.hpp&gt;</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_FILTERS_BILATERAL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html">pcl::BilateralFilter</a></div><div class="ttdoc">A bilateral filter implementation for point cloud data. Uses the intensity data channel.</div><div class="ttdef"><b>Definition:</b> bilateral.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a066c204ca8bc026925fef5f5bf7e7837"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a066c204ca8bc026925fef5f5bf7e7837">pcl::BilateralFilter::computePointWeight</a></div><div class="ttdeci">double computePointWeight(const int pid, const std::vector&lt; int &gt; &amp;indices, const std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Compute the intensity average for a single point</div><div class="ttdef"><b>Definition:</b> bilateral.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a1a8b8cd88dcf95540be1d2c28f68928c"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a1a8b8cd88dcf95540be1d2c28f68928c">pcl::BilateralFilter::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> bilateral.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a33c48632fadd95cd4cd5889b0342640b"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a33c48632fadd95cd4cd5889b0342640b">pcl::BilateralFilter::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> bilateral.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a3e96d45e8aaa2a896b5fd62a0d2c4b5a"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a3e96d45e8aaa2a896b5fd62a0d2c4b5a">pcl::BilateralFilter::kernel</a></div><div class="ttdeci">double kernel(double x, double sigma)</div><div class="ttdoc">The bilateral filter Gaussian distance kernel.</div><div class="ttdef"><b>Definition:</b> bilateral.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a5e1455ab6c90044b98572c2078f89156"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a5e1455ab6c90044b98572c2078f89156">pcl::BilateralFilter::getStdDev</a></div><div class="ttdeci">double getStdDev() const</div><div class="ttdoc">Get the value of the current standard deviation parameter of the bilateral filter.</div><div class="ttdef"><b>Definition:</b> bilateral.h:116</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a5f6aaa90b1204ddb406dd48561249388"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a5f6aaa90b1204ddb406dd48561249388">pcl::BilateralFilter::sigma_r_</a></div><div class="ttdeci">double sigma_r_</div><div class="ttdoc">The standard deviation of the bilateral filter (e.g., standard deviation in intensity).</div><div class="ttdef"><b>Definition:</b> bilateral.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a6d2043ffcb98ec957d38ac1c9746790c"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a6d2043ffcb98ec957d38ac1c9746790c">pcl::BilateralFilter::BilateralFilter</a></div><div class="ttdeci">BilateralFilter()</div><div class="ttdoc">Constructor. Sets sigma_s_ to 0 and sigma_r_ to MAXDBL</div><div class="ttdef"><b>Definition:</b> bilateral.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_abea3cb7b479ea6e41caf8e9e898b07ab"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#abea3cb7b479ea6e41caf8e9e898b07ab">pcl::BilateralFilter::sigma_s_</a></div><div class="ttdeci">double sigma_s_</div><div class="ttdoc">The half size of the Gaussian bilateral filter window (e.g., spatial extents in Euclidean).</div><div class="ttdef"><b>Definition:</b> bilateral.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_ac254e5699f91bf688d21282c63f1aa67"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#ac254e5699f91bf688d21282c63f1aa67">pcl::BilateralFilter::getHalfSize</a></div><div class="ttdeci">double getHalfSize() const</div><div class="ttdoc">Get the half size of the Gaussian bilateral filter window as set by the user.</div><div class="ttdef"><b>Definition:</b> bilateral.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_ac53b23b96cbb811e70525222a754ab70"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#ac53b23b96cbb811e70525222a754ab70">pcl::BilateralFilter::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter the input data and store the results into output</div><div class="ttdef"><b>Definition:</b> bilateral.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_adc9cfc0e5547a902d046da9d66c8cdc8"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#adc9cfc0e5547a902d046da9d66c8cdc8">pcl::BilateralFilter::setStdDev</a></div><div class="ttdeci">void setStdDev(const double sigma_r)</div><div class="ttdoc">Set the standard deviation parameter</div><div class="ttdef"><b>Definition:</b> bilateral.h:111</div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_afc66e9881892c38ab0583a3e794e10be"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#afc66e9881892c38ab0583a3e794e10be">pcl::BilateralFilter::setHalfSize</a></div><div class="ttdeci">void setHalfSize(const double sigma_s)</div><div class="ttdoc">Set the half size of the Gaussian bilateral filter window.</div><div class="ttdef"><b>Definition:</b> bilateral.h:99</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
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